Collaborative Autonomy for Mapping, Search, and Pursuit

This paper describes the development and flight tests of a multi-aircraft collaborative architecture, focused on decentralized autonomous decision making to solve a scenario-driven challenge problem. The architecture includes two search coverage algorithms, a hide location detection technique, behavior estimation, and a target manipulation algorithm. The architecture was implemented on a pair of Yamaha RMAX helicopters outfitted with modular avionics, as well as an associated set of simulation tools. Simulation and flight test results for single- and multiple aircraft scenarios are presented. Further work suggested includes identification and development of more sophisticated evader models and pursuit algorithms.